* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist
Depending on the setting of this param, the pusher assist is:
-completely disabled (default)
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode if above MPC_LAND_ALT1
-enabled in pos, alt and auto mode if above MPC_LAND_ALT2
-enabled in pos, alt and auto mode
(before it was always disabled in LAND mode)
-change default of VT_FWD_THRUST_SC from 0 to 0.7
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
Silvan Fuhrer